CN107461203B - A kind of shield machine automatic tool changer - Google Patents
A kind of shield machine automatic tool changer Download PDFInfo
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- CN107461203B CN107461203B CN201710494424.1A CN201710494424A CN107461203B CN 107461203 B CN107461203 B CN 107461203B CN 201710494424 A CN201710494424 A CN 201710494424A CN 107461203 B CN107461203 B CN 107461203B
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- platform
- cutter
- shield machine
- cabin
- gear
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
Abstract
This application discloses a kind of shield machine automatic tool changers, including sealed cabin, rotatable cabin and cutter-exchange mechanism, the rotatable cabin is rotatably connected with the sealed cabin, the cutter-exchange mechanism is connect by telescopic guideway with the rotatable cabin, for the cutter-exchange mechanism under the drive of the telescopic guideway, the rotatable cabin is outer or can be in retraction to the rotatable cabin；The cutter-exchange mechanism includes elevating mechanism, adjustment mechanism and cutter-exchange mechanism, the elevating mechanism is connected on the telescopic guideway and can move up and down relative to the telescopic guideway, the cutter-exchange mechanism is connect by the adjustment mechanism with the elevating mechanism, and the adjustment mechanism is used to adjust the angles and positions between the cutter-exchange mechanism and the elevating mechanism.The shield machine automatic tool changer of the application can automatically replace the hobboing cutter installed on cutter head of shield machine, scraper etc., solve the problems such as task difficulty that artificial tool changing is faced is big, and risk is high, at high cost.
Description
Technical field
The present disclosure relates generally to shield machine fields, and in particular to the tool changing operation of shield machine more particularly to shield machine are automatic
Tool changing device.
Background technique
Shield machine is a kind of heavy construction equipment, is usually used in the Tunnel Engineering that distance, buried depth are big, geological condition is complicated.
Developed according to national strategy demand and technology, " Super Engineering " of a series of underground engineering fields, such as the big seabed tunnel of cigarette cigarette, fine jade
State chunnel and some hydraulic engineerings etc. for passing through the large-scale mountain ridge, all use shield machine as main cutting equipment.At this
In a little engineerings, geological condition complexity, hydraulic pressure or rock pressure superelevation, construction risk are very big, can be reduced using shield machine and be exposed to danger
The personnel amount of environment, shield machine can also cope with the unapproachable operating environment of personnel, reduce labor intensity, improve construction matter
Amount and efficiency.
But hobboing cutter, the scraper etc. installed on cutter head of shield machine, it can constantly be worn in carrying out mining process.In knife
It is about 800 meters/time that tool, which wears tool changing frequency in lesser sandy soil stratum, and 200- may be as short as in more hard stratum
300 meters/time.Currently, replacement process can only carry tool using personnel and new cutter enters the excavation manually operated mode in storehouse.?
Personnel enter excavation storehouse and need gradually to be boosted and be depressured using the people cabin of multiple tracks gate using diving method in work progress,
Personnel are made to adapt to excavate the high pressure inside storehouse.When in this way, maintenance personnel, which enters, excavates storehouse implementation cutter changing operation
Difficulty is big, risk is high, and the activity duration is long, operating cost is high.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of shield that can be automatically performed tool changing work
Machine automatic tool changer.
According to the disclosure in a first aspect, provide a kind of shield machine automatic tool changer, including sealed cabin, rotatable cabin and
Tool-changing mechanism, the rotatable cabin are rotatably connected with the sealed cabin, and the tool-changing mechanism passes through telescopic guideway and the rotation
Turn cabin connection, the tool-changing mechanism under the drive of the telescopic guideway, the rotatable cabin outside or can retraction extremely
In the rotatable cabin；The tool-changing mechanism includes elevating mechanism, adjustment mechanism and cutter-exchange mechanism, and the elevating mechanism is connected to institute
It states on telescopic guideway and can be moved up and down relative to the telescopic guideway, the cutter-exchange mechanism passes through the adjustment mechanism
It is connected to the top of the elevating mechanism, the adjustment mechanism is for adjusting between the cutter-exchange mechanism and the elevating mechanism
Angles and positions.
Preferably, the rotary shaft of the rotatable cabin stretches in the sealed cabin and by being set in outside the sealed cabin
The pressing of flange transparent cover, the flange transparent cover are equipped with motor, and the motor is connected with first gear, and the rotatable cabin is close to institute
The end for stating sealed cabin is equipped with external gear, and the rotatable cabin passes through the gear motion between the external gear and the first gear
It can be rotated relative to the sealed cabin.
Preferably, the elevating mechanism is scissor lift platform, and the adjustment mechanism includes that rotating platform and double-deck stretch are put down
Platform, the rotating platform are rotatably connected at the top of the scissor lift platform, and the bilayer scaling platform is connected to the rotation
Turn on platform, and can forwardly and rearwardly stretching motion, the cutter-exchange mechanism are fixed on the bilayer relative to the rotating platform
On scaling platform, the rotating platform is used to adjust the angle between the cutter-exchange mechanism and the scissor lift platform, and bilayer is stretched
Contracting platform is used to adjust the position between the cutter-exchange mechanism and the scissor lift platform.
Preferably, the top of the scissor lift platform is equipped with the second gear being driven by motor, and the rotating platform is close
The side of the second gear is equipped with outer rack gear, and the second gear is engaged with the outer rack gear, and the rotating platform is separate
The side of the second gear is connect by shaft with the rotating base being fixed at the top of the scissor lift platform, passes through described the
Gear motion between two gears and the outer rack gear, the rotating platform can be around the shafts relative to the scissor lift platform
Rotation.
Preferably, the double-deck scaling platform includes first hydraulic cylinder, lower layer's bottom plate, second hydraulic cylinder and upper layer bottom plate,
The first hydraulic cylinder is arranged on the rotating platform, and can be flexible along the direction being parallel in the rotating platform length,
Lower layer's bottom plate is fixed on the extension end of the first hydraulic cylinder, and the second hydraulic cylinder is arranged on lower layer's bottom plate,
And can be flexible along the direction being parallel in the rotating platform length, the stretching of the first hydraulic cylinder and the second hydraulic cylinder
End is oppositely arranged, and the upper layer bottom plate is fixed on the extension end of the second hydraulic cylinder, and the cutter-exchange mechanism is arranged on described
On layer bottom plate.
Preferably, the rotating platform is equipped with lower floor guide rail, and the bottom of lower layer's bottom plate is equipped with lower layer's guide block, described
It is slidably connected between lower floor guide rail and lower layer's guide block, the top of lower layer's bottom plate is equipped with upper strata guide rail, the upper layer bottom
The bottom of plate is equipped with upper layer guide block, is slidably connected between the upper strata guide rail and the upper layer guide block.
Preferably, the cutter-exchange mechanism includes that the tool changing seat being arranged on the upper layer bottom plate and slot are inserted, and the slot, which is inserted, to be used
In vising hobboing cutter, the tool changing seat is equipped with the Bolt dismantling mechanism being driven by motor, and the Bolt dismantling mechanism is for dismantling
Bolt on hobboing cutter.
Preferably, the elevating mechanism be scissor lift platform, the adjustment mechanism be Six Degree-of-Freedom Parallel Platform, described six
The top of the scissor lift platform is arranged in freedom degree parallel connection platform, and the cutter-exchange mechanism setting is flat in the six-freedom parallel
On platform.
Preferably, the tool-changing mechanism is symmetricly set on the upper and lower part of the telescopic guideway.
Preferably, the telescopic guideway includes the first guide rail and the second guide rail, and second guide rail setting is described the
The top of one guide rail, first guide rail and second guide rail can be sliding relative to the fixed block being fixed in the rotatable cabin
It is dynamic, movable block is slidably connected on second guide rail, the elevating mechanism is connected on the movable block.
According to the shield machine automatic tool changer of the application, due to being provided with sealed cabin, rotatable cabin and tool-changing mechanism, and lead to
The mutual cooperation between them is crossed, the tool changing work to hobboing cutter on cutter head of shield machine can be automatically completed.To solve people
The problems such as task difficulty that work tool changing is faced is big, and risk is high, at high cost.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
The overall structure diagram of Fig. 1 shield machine automatic tool changer according to an embodiment of the present invention；
The structural schematic diagram of the rotatable cabin of Fig. 2 shield machine automatic tool changer according to an embodiment of the present invention；
The telescopic guideway of Fig. 3 shield machine automatic tool changer according to an embodiment of the present invention and the structure of elevating mechanism are shown
It is intended to；
The schematic diagram of the adjustment mechanism of Fig. 4 shield machine automatic tool changer according to an embodiment of the present invention；
The back angle schematic diagram of the adjustment mechanism of Fig. 5 shield machine automatic tool changer according to an embodiment of the present invention；
Tool-changing mechanism the showing in second of embodiment of Fig. 6 shield machine automatic tool changer according to an embodiment of the present invention
It is intended to；And
Tool-changing mechanism the showing in the third embodiment of Fig. 7 shield machine automatic tool changer according to an embodiment of the present invention
It is intended to.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1-Fig. 7 is please referred to, it illustrates the technical solutions of shield machine automatic tool changer according to an embodiment of the present invention.
As shown in Figure 1, shield machine automatic tool changer, including sealed cabin 1, rotatable cabin 2 and tool-changing mechanism.Sealed cabin 1 is placed on entirely
Device backmost, plays fixed whole device, combines and the work such as is replaced and added for the old hobboing cutter changed
Industry.Rotatable cabin 2 is rotatably connected with sealed cabin 1, and rotatable cabin 2 can be rotated relative to sealed cabin 1, realizes in rotatable cabin 2
The first time of tool-changing mechanism posture adjusts.Tool-changing mechanism is connect by telescopic guideway 3 with rotatable cabin 2, and tool-changing mechanism can stretched
It is extended to outside rotatable cabin 2 under the drive of contracting guide rail 3, to complete subsequent tool changing work.Tool changing work is completed in tool-changing mechanism
Afterwards, tool-changing mechanism can be 2 in retraction to rotatable cabin under the drive of telescopic guideway 3.Tool-changing mechanism includes elevating mechanism 4, adjustment
Mechanism 8 and cutter-exchange mechanism 7.Elevating mechanism 4 is connected on telescopic guideway 3 and can move up and down relative to telescopic guideway 3,
When needing tool changing, cutter-exchange mechanism 7 is increased on cutter head of shield machine at the height of hobboing cutter by elevating mechanism 4, after the completion of tool changing,
At the height of rotatable cabin 2 that cutter-exchange mechanism 7 and the hobboing cutter changed are landed back.Cutter-exchange mechanism 7 is connected to lifting by adjusting mechanism 8
The top of mechanism 4, and adjustment mechanism 8 can be used for adjusting the angles and positions between cutter-exchange mechanism 7 and elevating mechanism 4, from
And cutter-exchange mechanism 7 is enabled to be further adapted for the angles and positions of hobboing cutter on cutter head of shield machine.
As shown in Fig. 2, sealed cabin 1 includes cylindrical cabin 11, being also connected in cabin 11 freely to be opened
Hatchcover 12.The rotary shaft 21 of rotatable cabin 2 stretches in the bearing 13 of sealed cabin, and the flange by being set in outside sealed cabin is saturating
Lid 22 presses, and flange transparent cover 22 is fixed on flange.Flange transparent cover 22 is equipped with motor 23, and motor 23 is connected with first gear
24, rotatable cabin 2 is equipped with external gear 25 in the end close to the sealed cabin 1, and rotatable cabin 2 passes through external gear 25 and first gear 24
Between gear motion can be rotated relative to sealed cabin 1, so as to complete the rotation function of rotatable cabin 2, realize for rotatable cabin 2
The first time of interior tool-changing mechanism posture adjusts.Further, the end of rotatable cabin 2 can also connect the hatch door that can freely open
26, play the protection for device in cabin.
As shown in figure 3, telescopic guideway 3 includes the first guide rail 31 and the second guide rail 32, the second guide rail 32 is arranged first
The top of guide rail 31.First guide rail 31 and the second guide rail 32 can be slided relative to the fixed block 33 being fixed in rotatable cabin 2.The
Movable block 34 is slidably connected on two guide rails, elevating mechanism 4 is connected on movable block 34.By the mobile drive of movable block 34,
Elevating mechanism 4 can extend further along, realize and take tool-changing mechanism to suitable position.Elevating mechanism 4 is scissor lift platform,
It mainly include lower plate 42, supporting square tube 41 and upper plate 43.It is bolted between each supporting square tube 41, forms one kind
Scissors structure.Lower plate 42 is fixed on movable block 34, and the bottom of scissors structure is fixed on lower plate 42 by connecting rod 44.
The top of scissors structure is arranged in upper plate 43, by changing the angle between each supporting square tube 41, that is, compresses or extends
Each supporting square tube 41 completes the lifting for upper plate 43, so that changing mechanism 7 reaches suitable height.
As shown in figure 3, adjustment mechanism 8 includes rotating platform 5 and the double-deck scaling platform 6.Rotating platform 5 is rotatably connected
The top of scissor lift platform, the double-deck scaling platform 6 are connected on rotating platform 5.The double-deck scaling platform 6 can be relative to rotating platform
5 forwardly and rearwardly stretching motion, cutter-exchange mechanism 7 are fixed on the double-deck scaling platform 6.Rotating platform 5 is for adjusting cutter-exchange mechanism 7
With the angle between scissor lift platform, the double-deck scaling platform 6 is used to adjust the position between cutter-exchange mechanism 7 and scissor lift platform.
As shown in Fig. 4 to Fig. 5, the top of scissor lift platform is equipped with the second gear 54 driven by motor 52, wherein motor
On the upper plate 43 of the 52 scissor lift platforms being fixed on by motor cabinet 51.Rotating platform 5 close to the second gear 54 one
Side is equipped with outer rack gear 53, and second gear 54 is engaged with outer rack gear.As shown in figure 5, rotating platform 5 is in one far from second gear 54
Side is connect by shaft 56 with the rotating base 55 being fixed at the top of scissor lift platform.By second gear 54 and outer rack gear 53 it
Between gear motion, rotating platform 5 can around the shaft relative to scissor lift platform rotate.To drive bilayer thereon flexible flat
Platform 6 and cutter-exchange mechanism 7 rotate, and allow cutter-exchange mechanism 7 with hobboing cutter on cutter head of shield machine to just.
As shown in Fig. 4 to Fig. 5, the double-deck scaling platform 6 includes first hydraulic cylinder 61, lower layer's bottom plate 62, second hydraulic cylinder 63
With upper layer bottom plate 64.First hydraulic cylinder 61 is arranged on rotating platform 5, and first hydraulic cylinder 61 can be long along rotating platform 5 is parallel to
Direction on degree is flexible, to realize relative to the forwardly and rearwardly stretching motion of rotating platform 5.Wherein, rotating platform 5 is equipped with
The fixing end of first base 65, first hydraulic cylinder 61 is connect by the first pin 66 with the first base 65.Lower layer's bottom plate 62 is solid
It is scheduled on the extension end of first hydraulic cylinder 61, wherein the bottom of lower layer's bottom plate 62 is equipped with second base 69, and first hydraulic cylinder 61 is stretched
Outlet is connect by the second pin 68 with second base 69.Further, second hydraulic cylinder 63 is arranged on lower layer's bottom plate 62, and can
It is flexible along direction in 5 length of rotating platform is parallel to, to realize relative to the forwardly and rearwardly stretching motion of rotating platform 5.
Upper layer bottom plate 64 is fixed on the extension end of second hydraulic cylinder 63, and cutter-exchange mechanism 7 is arranged on upper layer bottom plate 64.Wherein, the second liquid
Connection type between connection type between cylinder pressure 63 and lower layer's bottom plate 62 and first hydraulic cylinder 61 and rotating platform 5 is identical,
Connection type between upper layer bottom plate 64 and the extension end of second hydraulic cylinder 63 and lower layer bottom plate 62 and first hydraulic cylinder 61 are stretched
Connection type between outlet is identical, repeats no more herein.
Preferably, first hydraulic cylinder 61 and the extension end of second hydraulic cylinder 63 are oppositely arranged, so as to it is two-way (forward
Position on backward) to cutter-exchange mechanism 7 relative to shield machine roller cutter is finely adjusted.It can also be changed after completing to change to work
When knife structure time drops to the height of rotatable cabin 2, first hydraulic cylinder 61 drives tool-changing mechanism to return in rotatable cabin backward.
It is further preferred that the rotating platform 5 is equipped with lower floor guide rail 57, the bottom of lower layer's bottom plate 62 is led equipped with lower layer
Block 621 is slidably connected between lower floor guide rail 62 and lower layer's guide block 621.The top of lower layer's bottom plate 62 is equipped with upper strata guide rail 622, on
The bottom of layer bottom plate 64 is equipped with upper layer guide block 641, is slidably connected between upper strata guide rail 622 and upper layer guide block 641.Using first
Hydraulic cylinder 61 and second hydraulic cylinder 63 it is two-way on when being finely adjusted to cutter-exchange mechanism 7 relative to the position of shield machine roller cutter, pass through
Between lower floor guide rail 62 and lower layer's guide block 621, being slidably connected between upper strata guide rail 622 and upper layer guide block 641 can be to first
Hydraulic cylinder 61 and the stretching motion of second hydraulic cylinder 63 play guiding role, so that stretching motion process is more stable.
As shown in Fig. 4 to Fig. 5, cutter-exchange mechanism 7 includes that the tool changing seat 71 for being arranged on the bottom plate of upper layer 64 and slot insert 72.Slot is inserted
72 are fixed on tool changing seat 71, and slot inserts 72 for vising hobboing cutter.When the position and angle for adjusting cutter-exchange mechanism 7, slot is inserted
Hobboing cutter two sides are inserted into, hobboing cutter is embraced.Tool changing seat 71 is equipped with the Bolt dismantling mechanism 74 driven by motor 73, Bolt dismantling machine
Structure is used to dismantle the bolt on hobboing cutter, so that the hobboing cutter of damage be taken out.
In conclusion cutter head of shield machine is parked in close to the place of manhole first when carrying out tool changing operation.It is damaged determining
When the position of bad hobboing cutter, it is thus necessary to determine that position, to rotate rotatable cabin 2 relative to fixed cabin 1, is adjusted above or below manhole
The angle of whole rotatable cabin 2, is allowed to adapt to.After position is adjusted, hatch door 26 is opened, and telescopic guideway 3 is with changing thereon
Knife structure goes out cabin, and after reaching suitable position, elevating mechanism 4 carries out elongation operation, by adjustment mechanism and cutter-exchange mechanism thereon
It is sent to suitable height.After reaching suitable height, the upper layer bottom plate 64 of the double-deck scaling platform 6 is in 61 He of first hydraulic cylinder
It stretches out and adjusts to the direction close to cutter head of shield machine under the action of second hydraulic cylinder 62.Then, in the side of second gear 54
Under the engagement of outer rack gear 53, rotating platform 5 can be rotated relative to elevating mechanism 4, adjust cutter-exchange mechanism thereon again
Posture is allowed to corresponding with the position of the screw of the hobboing cutter to be dismantled.After adjusting, the slot on cutter-exchange mechanism 7 is inserted 72 and is inserted
Enter hobboing cutter two sides, hobboing cutter is embraced, the Bolt dismantling mechanism 74 on tool changing seat 71 removes the screw of fixed hobboing cutter, thus will damage
Bad hobboing cutter takes out.After the hobboing cutter for taking out damage, entire tool-changing mechanism is returned in rotatable cabin 2, under the double-deck scaling platform 6
Layer bottom plate 62 is back retracted into rotatable cabin 2 under the drive of first hydraulic cylinder 61, and the hobboing cutter of damage is transported to sealed cabin 1
And it takes out.And then new knife is placed on slot and is inserted on 72, hobboing cutter is mounted on to the position before cutter head of shield machine in the same way
It sets, achievees the purpose that automatic tool changer.
As shown in fig. 6, the second embodiment of its tool-changing mechanism for illustrating shield machine automatic tool changer.Elevating mechanism 4
For scissor lift platform, adjustment mechanism is Six Degree-of-Freedom Parallel Platform 9, and scissor lift platform is arranged in Six Degree-of-Freedom Parallel Platform 9
Top, cutter-exchange mechanism 7 are arranged on Six Degree-of-Freedom Parallel Platform.In the present embodiment, using telescopic guideway 3 by tool-changing mechanism
It takes rotatable cabin 2 out of, suitable position will be brought by cutter-exchange mechanism 7 thereon by scissor lift platform.Since shield machine semi shield oil cylinder is stopped
The hobboing cutter of Che Shi, damage can not be accurately parked on same radial line with tool changing device.Therefore, six are set up on scissor lift platform certainly
By degree parallel connection platform, using Six Degree-of-Freedom Parallel Platform controllability by thereon cutter-exchange mechanism 7 and the hobboing cutter to be replaced
To just, to carry out tool changing operation.
As shown in fig. 7, the 3rd embodiment of its tool-changing mechanism for illustrating shield machine automatic tool changer.Tool-changing mechanism pair
Claim the upper and lower part that telescopic guideway 3 is set.Since manhole is not located on the axis of shield machine, changed
When knife operation, it can be related to carrying out tool changing operation on manhole top and manhole lower part.Therefore it is required that shield machine automatic tool changer
It can be realized stretching, extension up and down, so that the tool changing operation in each orientation can be realized.Therefore, in telescopic guideway 3
Upper and lower part tool-changing mechanism is all set.
The adjustable multiple degrees of freedom of the application is, it can be achieved that multi-angle, and the tool changing of hobboing cutter is made on multi-faceted cutter head of shield machine
Industry.Also, under the premise of not changing original shield machine structure, using existing manhole placing device, eliminate a large amount of
Province looks into work.The application can replace being accomplished manually taking knife and tool changing operation accordingly using machinery completely, so that staff
It can be no longer exposed in hyperbaric environment, avoid the problem that service worker's replacement operation difficulty is big, the risk and cost is high.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of shield machine automatic tool changer, which is characterized in that including sealed cabin, rotatable cabin and tool-changing mechanism, the rotation
Cabin is rotatably connected with the sealed cabin, and the tool-changing mechanism is connect by telescopic guideway with the rotatable cabin, the tool changing
For structure under the drive of the telescopic guideway, the rotatable cabin is outer or can be in retraction to the rotatable cabin；It is described
Tool-changing mechanism includes elevating mechanism, adjustment mechanism and cutter-exchange mechanism, and the elevating mechanism is connected on the telescopic guideway simultaneously
It can be moved up and down relative to the telescopic guideway, the cutter-exchange mechanism is connected to the elevator by the adjustment mechanism
The top of structure, the adjustment mechanism are used to adjust the angles and positions between the cutter-exchange mechanism and the elevating mechanism.
2. shield machine automatic tool changer according to claim 1, which is characterized in that the rotary shaft of the rotatable cabin protrudes into
In to the sealed cabin and the flange transparent cover by being set in outside the sealed cabin presses, and the flange transparent cover is equipped with motor,
The motor is connected with first gear, and the rotatable cabin is equipped with external gear, the rotatable cabin in the end close to the sealed cabin
It can be rotated relative to the sealed cabin by the gear motion between the external gear and the first gear.
3. shield machine automatic tool changer according to claim 2, which is characterized in that the elevating mechanism is scissor lift
Platform, the adjustment mechanism include rotating platform and the double-deck scaling platform, and the rotating platform is rotatably connected in the scissors liter
Drop platform top, it is described bilayer scaling platform be connected on the rotating platform, and can relative to the rotating platform forward and
Stretching motion backward, the cutter-exchange mechanism are fixed on the double-deck scaling platform, and the rotating platform is for adjusting described change
Angle between cutter mechanism and the scissor lift platform, the double-deck scaling platform is for adjusting the cutter-exchange mechanism and the scissors liter
Position between platform drops.
4. shield machine automatic tool changer according to claim 3, which is characterized in that set at the top of the scissor lift platform
There is a second gear being driven by motor, the rotating platform is equipped with outer rack gear close to the side of the second gear, and described second
Gear is engaged with the outer rack gear, and the rotating platform by shaft and is fixed on described in the side far from the second gear
Rotating base connection at the top of scissor lift platform, it is described by the gear motion between the second gear and the outer rack gear
Rotating platform can be rotated around the shaft relative to the scissor lift platform.
5. shield machine automatic tool changer according to claim 4, which is characterized in that the bilayer scaling platform includes the
One hydraulic cylinder, lower layer's bottom plate, second hydraulic cylinder and upper layer bottom plate, the first hydraulic cylinder are arranged on the rotating platform, and
Can be flexible along the direction being parallel in the rotating platform length, lower layer's bottom plate is fixed on the stretching of the first hydraulic cylinder
End, the second hydraulic cylinder is arranged on lower layer's bottom plate, and can stretch along the direction being parallel in the rotating platform length
Contracting, the extension end of the first hydraulic cylinder and the extension end of the second hydraulic cylinder are oppositely arranged, and the upper layer bottom plate is fixed on
The extension end of the second hydraulic cylinder, the cutter-exchange mechanism are arranged on the upper layer bottom plate.
6. shield machine automatic tool changer according to claim 5, which is characterized in that the rotating platform is equipped with lower layer
The bottom of guide rail, lower layer's bottom plate is equipped with lower layer's guide block, is slidably connected between the lower floor guide rail and lower layer's guide block, institute
The top for stating lower layer's bottom plate is equipped with upper strata guide rail, and the bottom of the upper layer bottom plate is equipped with upper layer guide block, the upper strata guide rail and institute
It states and is slidably connected between the guide block of upper layer.
7. shield machine automatic tool changer according to claim 6, which is characterized in that the cutter-exchange mechanism includes that setting exists
Tool changing seat and slot on the upper layer bottom plate are inserted, and the slot is inserted for vising hobboing cutter, and the tool changing seat, which is equipped with, to be driven by motor
Bolt dismantling mechanism, the Bolt dismantling mechanism is used to dismantle bolt on hobboing cutter.
8. shield machine automatic tool changer according to claim 1 or 2, which is characterized in that the elevating mechanism is scissors
Lifting platform, the adjustment mechanism are Six Degree-of-Freedom Parallel Platform, and the Six Degree-of-Freedom Parallel Platform is arranged in the scissor lift
The top of platform, the cutter-exchange mechanism are arranged on the Six Degree-of-Freedom Parallel Platform.
9. shield machine automatic tool changer described in any one of -7 claims according to claim 1, which is characterized in that described to change
The upper and lower part of the telescopic guideway is arranged in knife symmetrical configuration.
10. shield machine automatic tool changer described in any one of -7 claims according to claim 1, which is characterized in that described
Telescopic guideway includes the first guide rail and the second guide rail, and second guide rail is arranged in the top of first guide rail, and described the
One guide rail and second guide rail can be slided relative to the fixed block being fixed in the rotatable cabin, sliding on second guide rail
Dynamic to be connected with movable block, the elevating mechanism is connected on the movable block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710494424.1A CN107461203B (en) | 2017-06-26 | 2017-06-26 | A kind of shield machine automatic tool changer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710494424.1A CN107461203B (en) | 2017-06-26 | 2017-06-26 | A kind of shield machine automatic tool changer |
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| CN107461203A CN107461203A (en) | 2017-12-12 |
| CN107461203B true CN107461203B (en) | 2019-03-29 |
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| CN201710494424.1A Active CN107461203B (en) | 2017-06-26 | 2017-06-26 | A kind of shield machine automatic tool changer |
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| CN108868803B (en) * | 2018-09-29 | 2023-05-09 | 华东交通大学 | Shield tunneling machine structure convenient for cutter replacement and cutter replacement method |
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| CN109664320B (en) * | 2018-12-17 | 2021-04-20 | 大连理工大学 | End effector for tool changing robot of full-face tunnel boring machine |
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